/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include <math.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//pwm范围
#define PWM_MIN 50
#define PWM_MAX 250
//角度范围
#define ANGLE_MIN -90
#define ANGLE_MAX 90
//弧度转角度
#define PI 3.1415926
#define RAD_TO_DEG (180.0 / PI)

typedef struct {
    TIM_HandleTypeDef *htim;  //定时器句柄
    uint32_t channel;         //定时器通道
} ServoJoint;

ServoJoint joints[6] = {
    {&htim3, TIM_CHANNEL_1},  //关节1
    {&htim3, TIM_CHANNEL_2},  //关节2
    {&htim1, TIM_CHANNEL_1},  //关节3
    {&htim1, TIM_CHANNEL_2},  //关节4
    {&htim1, TIM_CHANNEL_3},  //关节5
    {&htim1, TIM_CHANNEL_4}   //关节6
};

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
float theta[5]={0};
//DH参数
const float alpha0= 0,alpha1=-PI/2,alpha2=0,alpha3=0,alpha4=PI/2;
const float a0=0,a1=2,a2=10,a3=15,a4=0;
const float d1=0,d2=0,d3=0,d4=0,d5=0;
const float l0=10,l1=15,l2=6;

uint16_t theta_calculate(float x, float y, float z, float pitch, float roll)
{
	theta[0] = atan2(y, x)*RAD_TO_DEG;//yaw
	theta[4] = roll;//roll
	float m, n, k, a, b, c, theta1, s1ps2;
	float A = sqrt(pow(x, 2) + pow(y, 2));
	m=l2*cos(pitch)-A;
	n=l2*sin(pitch)-z;
	k=(pow(l1,2)-pow(l0,2)-pow(m,2)-pow(n,2))/2/l0;
	a=pow(m,2)+pow(n,2);b=-2*n*k;c=pow(k,2)-pow(m,2);
	theta1 = (-b+sqrt(pow(b, 2)-4*a*c))/2/a;
	theta[1] = asin(theta1)*RAD_TO_DEG;
  if (theta[1] > ANGLE_MAX) {
      return theta[1]= ANGLE_MAX;
  }
  if (theta[1] < ANGLE_MIN) {
      return theta[1]= ANGLE_MIN;
  }
  k=(pow(l0,2)-pow(l1,2)-pow(m,2)-pow(n,2))/2/l1;
  a=pow(m,2)+pow(n,2);b=-2*n*k;c=pow(k,2)-pow(m,2);
  s1ps2 = (-b+sqrt(pow(b, 2)-4*a*c))/2/a;
	s1ps2 = asin(s1ps2)*RAD_TO_DEG;
  if (s1ps2 > ANGLE_MAX) {
      return theta[2]= ANGLE_MAX;
  }
  if (s1ps2 < ANGLE_MIN) {
      return theta[2]= ANGLE_MIN;
  }
  theta[2] = s1ps2-theta[1];
  theta[3] = pitch - theta[1] - theta[2];
  if (theta[3] > ANGLE_MAX) {
      return theta[3]= ANGLE_MAX;
  }
  if (theta[3] < ANGLE_MIN) {
      return theta[3]= ANGLE_MIN;
  }
  
  return 0;
}
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

uint16_t angleToPWM(int angle) {
    if (angle < ANGLE_MIN) angle = ANGLE_MIN;
    if (angle > ANGLE_MAX) angle = ANGLE_MAX;

    //线性映射
    return PWM_MIN + (uint16_t)(((float)(angle - ANGLE_MIN) / (ANGLE_MAX - ANGLE_MIN)) * (PWM_MAX - PWM_MIN));
}

void setJointAngle(uint8_t joint_index, int angle)
{
	uint16_t pwm_value = angleToPWM(angle);
	__HAL_TIM_SET_COMPARE(joints[joint_index].htim, joints[joint_index].channel, pwm_value);
}

void zero(void)
{
	setJointAngle(0, 90);
    setJointAngle(1, 0);
    setJointAngle(2, 0);
    setJointAngle(3, 90);
    setJointAngle(4, -90);
    setJointAngle(5, -90);
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C2_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);
	zero();
	HAL_Delay(5000);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {  
	int i;
	theta_calculate(0,90,100,-90,100);
	for(i=0;i<5;i++)
	{
		setJointAngle(i,theta[i]);
	}
	HAL_Delay(5000);
	theta_calculate(0,30,30,-90,100);
	for(i=0;i<5;i++)
	{
		setJointAngle(i,theta[i]);
	}	
	HAL_Delay(5000);	
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
